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WO2022096621A1 - Procédé et dispositif de commande d'éléments émetteurs d'un système de mesure lidar et système de mesure lidar - Google Patents

Procédé et dispositif de commande d'éléments émetteurs d'un système de mesure lidar et système de mesure lidar Download PDF

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Publication number
WO2022096621A1
WO2022096621A1 PCT/EP2021/080716 EP2021080716W WO2022096621A1 WO 2022096621 A1 WO2022096621 A1 WO 2022096621A1 EP 2021080716 W EP2021080716 W EP 2021080716W WO 2022096621 A1 WO2022096621 A1 WO 2022096621A1
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WO
WIPO (PCT)
Prior art keywords
emitter
elements
subset
receiving
activated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2021/080716
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German (de)
English (en)
Inventor
Jörg Kliewer
Michael Schmalz
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ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
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Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of WO2022096621A1 publication Critical patent/WO2022096621A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters

Definitions

  • the invention relates to a method and a device for controlling emitter elements of a LIDAR measuring system, which is designed in a focal plane array arrangement.
  • the invention also relates to a LIDAR measurement system with a transmission unit and a control unit.
  • a scanning sensor for example a LIDAR (light detection and ranging) sensor, which periodically emits pulses, is usually used for optical distance measurements, in particular for use in vehicles.
  • the pulses, in particular light pulses are reflected by objects and the reflected pulse is detected. From the determination of the propagation time of the pulses from the sensor to the object and back, the distance or distance to the object can be inferred using the speed of light.
  • a LIDAR receiving unit for a LIDAR measurement system is known from document DE 102017222971 A1, in which several sensor elements are arranged in macro cells and each sensor element can be activated and deactivated individually or can be activated and deactivated in groups of sensor elements.
  • the known LIDAR sensor concepts enable distance measurements, there is no possibility of detecting speed states of an object to be detected, in particular within a frame, in order to enable a speed analysis per imaging frame.
  • the object of the invention is to functionally improve a method mentioned at the outset.
  • the invention is based on the object of structurally and/or functionally improving a device mentioned at the outset and a LIDAR measuring system mentioned at the outset. The object is achieved with a method having the features of claim 1.
  • the object is also achieved with a device having the features of claim 12 and with a LIDAR measuring system having the features of claim 13.
  • Advantageous versions and/or developments are counter- stand of the dependent claims.
  • the emitter elements of an emitter subset can be activated one after the other.
  • the respective following emitter element of the emitter subset can only be activated after the end of a waiting time.
  • the respectively following emitter element can in each case be the emitter element which precedes, in particular directly, follows an emitter element within the emitter subset.
  • the emitter elements of the emitter subset can be deactivated one after the other.
  • the emitter elements of the emitter subset can be activated and deactivated one after the other.
  • the emitter subset may be part of a transmit matrix. There may be multiple, such as two, three, four, etc., emitter subsets. Each emitter subset may have multiple, such as two, three, four, etc., emitter elements.
  • the emitter subset or emitter subsets can form the transmission matrix.
  • the emitter subset can be an emitter row or an emitter column.
  • the emitter row(s) and/or emitter column(s) can form the transmission matrix.
  • the emitter subset and/or transmission matrix can be part of a transmission unit of the LIDAR measurement system.
  • the emitter elements can essentially be arranged on one level, for example on a chip, such as a sensor chip or transmission chip.
  • the emitter elements can be arranged uniformly, for example in a uniform grid pattern.
  • the arrangement of the emitter elements can be divided into rows and/or columns, such as emitter rows and/or emitter columns, in particular in the transmission matrix.
  • the rows and/or columns can have a constant row spacing or column spacing. For example, row spacing and column spacing can be the same be tall
  • the emitter elements of a row and/or column can be at a constant distance from one another. For example, a column has an emitter element in each row of the transmission matrix and/or a row has an emitter element in each column of the transmission matrix.
  • the LIDAR measurement system and/or the transmission unit and/or transmission matrix can be configured in a focal plane array.
  • a focal plane array configuration can be understood to mean a two-dimensional arrangement of emitter elements in one plane, in particular the focal plane of at least one optical transmission system.
  • the focal plane of the at least one transmission optics can determine the field of view of the sensor or the transmission optics in accordance with the extent of the transmission matrix.
  • the transmission optics can be a lens arrangement, such as an objective.
  • the individual emitter elements can be arranged in the focal point of the transmission optics. By placing the transmission matrix or parts thereof in the focal plane of the transmission optics, the position of the individual emitter elements can be converted into an angle by the transmission optics.
  • the pulses such as measurement pulses or light beams, which impinge on the transmission optics and run, for example, in a parallel direction, can be deflected into different angles by the transmission optics. As a result, a large field of view can be illuminated without the need for moving parts to deflect the pulses or light beams.
  • a focal plane array configuration can therefore enable a static design of the LIDAR measurement system and/or its transmission unit and/or its reception unit, so that it does not include any moving parts.
  • the LIDAR measurement system can be arranged statically on a vehicle.
  • the emitter elements can be transmission elements.
  • the emitter elements can each have an active area for sending pulses, such as measurement pulses, and/or beams, such as light beams.
  • An active area can be understood as meaning the area of an emitter element at which a pulse or light beam leaves the emitter element.
  • the emitter elements can be designed to emit light, in particular laser light or a laser pulse.
  • a measuring pulse can be an optical signal, for example an electromagnetic signal.
  • a measurement pulse can be a light pulse, such as a laser pulse.
  • a measurement pulse can have a pulse duration.
  • the emitter elements can each be in the form of lasers, such as pulsed lasers.
  • the emitter elements can each be in the form of a laser diode, such as an electrically pulsed laser diode, or in the form of a passive microlaser, such as a passive Q-switched microlaser.
  • the emitter elements can each be formed as a surface emitter, such as a vertical cavity surface emitting laser (VCSEL).
  • VCSEL vertical cavity surface emitting laser
  • a pixel such as a transmission pixel, can be assigned to each emitter element.
  • the emitter elements of the emitter subset can be activated and/or deactivated in such a way that the emitter elements are activated and/or deactivated one after the other, for example such that only one emitter element of the emitter subset is activated at a time.
  • an emitter element When an emitter element is active, it emits a pulse, such as a measurement pulse, or a light beam, such as a laser beam.
  • the order of activation and/or deactivation of the emitter elements of the emitter subset can be predetermined by the arrangement of the emitter elements in a row or column. By activating only one emitter element of the emitter subset, a partial area of the field of view can be illuminated in a targeted manner. Due to the fact that only one emitter element of the emitter subset is active at a time and the activation of the emitter elements of the emitter subset takes place one after the other with a defined time interval, it is possible to scan, for example, spatially connected partial areas of the field of view without the use of moving parts required for this .
  • the term scanning can be understood as scanning the field of view.
  • a delay in the switch-on process or activation process can be achieved between the individual emitter elements by the waiting time until the respectively following emitter element of the emitter subset is activated. This can inherently result in a time resolution.
  • a controlled delay of the switch-on process or activation process takes place.
  • the delay can be formed or defined by the waiting time.
  • the waiting time can be referred to as a delay element and/or be formed and/or defined by a delay element, for example an electronic one.
  • the waiting times, in particular within the emitter subset, of successive emitter elements can differ.
  • the waiting times, in particular within the emitter subset, of consecutive emitter elements can be the same.
  • the waiting time for each subsequent emitter element, in particular within the emitter subset can increase or decrease.
  • the waiting time for each subsequent emitter element, in particular within the emitter subset can increase or decrease with a defined time interval or time segment.
  • the defined period of time can be a time difference.
  • the time difference can be positive or negative.
  • the waiting time can increase or decrease linearly or exponentially, in particular for each subsequent emitter element of the emitter subset.
  • the waiting time or waiting times can be extended from emitter element to emitter element by a specific value, such as a time interval or time period.
  • the waiting time or waiting times and/or the time intervals or time sections can be determined and/or determined in advance.
  • a separate waiting time can be assigned to each emitter element of the emitter subset.
  • a subsequent emitter element of the emitter subset can only be activated after the deactivation of the, in particular directly, preceding emitter element of the emitter subset and after the end of the waiting time.
  • the waiting time can start at the time of the deactivation of the previous emitter element.
  • an emitter element, in particular the first emitter element, of a following emitter subset can only be activated when the last emitter element of the emitter subset preceding this emitter subset has been deactivated.
  • all emitter elements of an emitter subset can be activated and/or deactivated at the same time. If the emitter subset or emitter subsets is/are an emitter row or emitter rows, then the emitter elements can be activated and/or deactivated one after the other in columns. In this case, the emitter elements of the sub-groups which are associated with one, in particular common, emitter column can be activated and/or deactivated simultaneously. If the emitter subset or emitter subsets is/are an emitter column or emitter columns, then the emitter elements can be activated and/or deactivated one after the other line by line.
  • the emitter elements of the subgroups that are assigned to an emitter row, in particular a common one, can be activated and/or deactivated at the same time.
  • An emitter element can be allocated or allocated to a receiving element of the LIDAR measurement system.
  • a receiving element can be referred to as a sensor element.
  • An emitter element can be assigned or assigned to a group and/or number of receiving elements.
  • An emitter subset can be assigned or assigned to a receiving element.
  • An emitter subset can be assigned or assigned to a group and/or plurality of receiving elements.
  • the group and/or plurality of receiving elements can form a macro cell made up of a number of receiving elements.
  • the macro cell or all receiving elements of a macro cell can be assigned or assigned to an emitter element and/or emitter subset.
  • the group of receiving elements and/or the macro cell can be referred to as a receiving subset.
  • the receive subset may be a sensor subset.
  • the receive subset may be part of a receive matrix. There may be multiple, such as two, three, four, etc., receive subsets. Each receiving subset may have multiple, such as two, three, four, etc., receiving elements.
  • the reception subset or reception subsets can form the reception matrix.
  • the receive subset can be a receive row or receive column.
  • the receiving parts can be a sensor line.
  • the receiving column can be a sensor column.
  • the receiving row(s) and/or receiving column(s) can form the receiving matrix.
  • the reception subset and/or reception matrix can be part of a reception unit of the LIDAR measurement system.
  • the reception elements can essentially be arranged on one level, for example on a chip, such as a sensor chip or reception chip.
  • the receiving elements can be arranged uniformly, for example in a uniform grid pattern.
  • the arrangement of the reception elements can be divided into rows and/or columns, such as reception rows and/or reception columns, in particular of the reception matrix.
  • the rows and/or columns can have a constant row spacing or column spacing. For example, the line spacing and the column spacing can be the same.
  • the receiving elements of a row and/or column can be at a constant distance from one another.
  • a column has a receiving element in each row of the receiving matrix and/or a row has a receiving element in each column of the receiving matrix.
  • the receiving unit and/or receiving matrix can be designed in a focal plane array configuration.
  • a focal plane array configuration can be understood to mean a two-dimensional arrangement of receiving elements in one plane, in particular the focal plane of at least one optical receiving system.
  • the focal plane of the at least one receiving optics can determine the field of view of the sensor or the receiving optics in accordance with the expansion of the receiving matrix.
  • the individual receiving elements can be arranged at the focal point of the receiving optics.
  • the receiving optics can be a lens arrangement, such as a lens, for example a wide-angle lens.
  • the receiving elements and emitter elements can be arranged on the same level or different levels.
  • the receiving elements can each have an active surface, for example a photosensitive surface, which can receive, in particular detect, reflected pulses, such as measurement pulses, and/or rays, such as light rays, on objects such as measurement objects.
  • An active surface can be understood as meaning the surface of a receiving element on which a pulse or light beam impinges on the receiving element.
  • the receiving elements can be designed to detect light, in particular laser light or a laser pulse.
  • the receiving elements can be designed to detect the pulses or light emitted by the emitter elements.
  • the receiving elements can each be in the form of photodiodes or avalanche photodiodes.
  • the receiving elements can each be designed as a solid-state photodetector.
  • the receiving elements can each be in the form of a single photon avalanche diode, such as a single photon avalanche diode (SPAD).
  • a pixel such as a receiving pixel, can be assigned to each receiving element.
  • reflected pulses or light beams in particular from different angles, such as solid angles, can be imaged onto the receiving elements or receiving matrix. This can be done by means of the receiving optics.
  • the light/pulse emitted by an emitter element can be assigned to a solid angle by the transmission optics.
  • a receiving element can always view the same solid angle via the receiving optics.
  • a receiving element and the associated or assigned emitter element can therefore both be assigned or assigned to the same solid angle.
  • the emitted light/pulse of an emitter element can therefore, after a reflection, for example in the far field, always impinge on the same receiving element assigned to the emitting emitter element.
  • Emitter element-receiving element pairings can be formed in this way.
  • the receiving elements can be controlled in such a way that a receiving element assigned to the activated emitter element is activated or, for example, is activated essentially at the same time as the emitter element.
  • the receiving elements can be controlled in such a way that all receiving elements of one dem activated emitter element assigned receiving subset are activated or, for example, substantially simultaneously with the emitter element, are activated.
  • the receiving elements can be activated and/or deactivated in such a way that essentially at the same time as the emitter element and/or emitter subset is activated, only the receiving element or receiving subset assigned or assigned to this emitter element or emitter subset is active or activated for example in such a way that the associated or assigned receiving element or receiving subset receives the pulse or light beam emitted and reflected by the emitter element or emitter subset. In this way, only the receiving elements and/or receiving subset that are assigned or assigned to the respective emitter element or emitter subset can be or become activated.
  • Substantially simultaneously can be understood to mean that the activation of the reception elements or reception subset occurs either at the same time as the associated emitter elements or emitter subset are activated or at least simultaneously in such a way that pulses or light beams emitted by the emitter elements or emitter subset are transmitted by the associated reception elements or Received subset can be detected.
  • the activation of the receiving element, the receiving elements and/or the receiving subset can already take place before the associated emitter element, the emitter elements and/or the emitter subset are activated.
  • a horizontal scan can be carried out in which one column, for example emitter column and/or reception column, can be activated or deactivated sequentially in ascending or descending order after the other.
  • a vertical scan can be carried out in the method, in which one line, for example emitter line and/or reception line, can be activated or deactivated sequentially after the other in ascending or descending order.
  • points in time can be determined at which pulses or light beams were received or detected, in particular by means of the receiving elements. These points in time can be determined using an evaluation device.
  • the receiving elements can be effectively connected to the evaluation device.
  • the method can be or have a time-correlated single photon counting method, such as a TCSPC method (Time Correlated Single Photon Counting), and/or be part of such a method.
  • the method can be stored and/or implemented as a computer program at least partially on a computer, microcomputer, in an electronic control and/or computing unit or on a storage medium.
  • the computer program can be distributed to one or more storage media, control and/or computing units or computers, etc. in terms of software.
  • a computer program product can cause a device, such as a controller, a control and/or computing unit/device, a control system, a processor or a computer, to execute the method described above and/or below.
  • the computer program product can have corresponding data sets and/or the computer program.
  • a device for controlling emitter elements of a LIDAR measurement system which is embodied in a focal plane array arrangement, can be set up and/or intended to carry out the method described above and/or below.
  • the device may be or include a control unit or controller.
  • the device may be or comprise a time control unit.
  • the device can have an evaluation device.
  • the device may include a processor and memory.
  • the computer program product may be stored in the memory of the device.
  • the device can be a driver assistance system and/or a safety system or be a part thereof.
  • a LIDAR measurement system can have a transmission unit and/or a control unit, such as a time control unit, for the time-controlled activation and/or deactivation of emitter elements of the transmission unit.
  • the LIDAR measurement system can have a receiving unit.
  • the transmission unit can have the emitter elements and/or emitter subset.
  • the receiving unit can have the receiving elements and/or receiving subset.
  • the LIDAR measurement system can have the device described above and/or below.
  • the LIDAR measurement system can be set up and/or intended to carry out the method described above and/or below.
  • the LIDAR measurement system can be a driver assistance system and/or a safety system or be a part thereof. Measurements can be carried out with the LIDAR measurement system in order to be able to detect objects and/or determine their distance and/or their speed.
  • a measurement process can be carried out for each pairing of emitter element and receiver element.
  • a measurement process can include a number of measurement cycles. During a measurement cycle, an emitter element can emit a pulse or light beam, which can be detected again by one or more receiving elements after being reflected on an object. With the invention, in addition to the distance from the sensor to the object, the speed of the object can also be made specifically measurable or ascertainable.
  • Speed states of an object to be detected, in particular within a frame, can be recorded. Velocity analysis per imaging frame may be enabled. A time resolution can take place. The algorithms of an object classification can therefore not only have distance values available based on the actual propagation time of the laser pulses per emitter element, such as emitter pixel, to the receiver element, such as receiver pixel, but also a controlled time offset. Two neighboring pixels, which can be used for algorithms such as object classification, can then be further classified using motion vectoring. Exemplary embodiments of the invention are described in more detail below with reference to figures, in which the figures show, schematically and by way of example: FIG. and FIG. 2 schematically shows a transmission unit with a transmission matrix with emitter elements; and FIG.
  • FIG. 3 shows a LIDAR measuring system in a schematic representation.
  • 1 shows a flow chart of a method for controlling emitter elements of a LIDAR measuring system, which is designed in a focal plane array arrangement.
  • a receiving line of a receiving matrix of a receiving unit of the LIDAR measuring system for detecting measuring pulses, such as laser light is activated.
  • the receiving line has several receiving elements arranged one behind the other in a row.
  • emitter elements of an emitter row of a transmission unit of the LIDAR measurement system are activated one after the other, with the respectively following emitter element of the emitter row only being activated after the end of a waiting time.
  • the emitter line is assigned or assigned to the receiving line.
  • the emitter elements are arranged one behind the other in a row within the emitter line.
  • a subsequent emitter element is only activated after the previous emitter element has been deactivated and after the end of the waiting time.
  • the waiting time increases for each subsequent emitter element.
  • the method described above with reference to FIG. 1 can be part of a computer program product that causes a device to execute the method for controlling emitter elements of a LIDAR measuring system.
  • 2 schematically shows a transmission unit 3 with a transmission matrix 4 that has a plurality of emitter elements 5 .
  • the emitter elements 5 are in emitter rows Z 1 , Z 2 , Z 3 , . . . , Z n and emitter columns S 1 , S 2 , S 4 , S 4 , arranged in a row.
  • the emitter rows Z 1 , Z 2 , Z 3 , ..., Z n and emitter columns S 1 , S 2 , S 4 , S 4 , ..., S n form the transmission matrix 4.
  • Each emitter row Z 1 , Z 2 , Z 3 , . . . , Z n forms an emitter subset 6.
  • the emitter elements 5 of an emitter line Z 1 , Z 2 , Z 3 , . . . Z 2 , Z 3 , . . . , Z n is only activated after a waiting time t n or t n + ⁇ t x has ended.
  • the subsequent emitter element 5 is only activated after the deactivation of the preceding emitter element 5 and after the end of the waiting time t n or t n + ⁇ t x .
  • the waiting time t n or t n + ⁇ t x increases by ⁇ t x for each subsequent emitter element 5 .
  • the periods of time t n or t n + ⁇ t x represent delay elements until the respectively subsequent emitter element is activated.
  • the first emitter element 5 (the emitter element at the bottom left in FIG. 2) of the first emitter subset 6 of the first emitter row Z 1 is activated.
  • the waiting time t 1 begins to run.
  • the emitter element 5 directly following in the row of the emitter row Z 1 (here the second emitter element 5 in the row from the left) is activated.
  • the waiting time t 1 + ⁇ t 1 begins to run.
  • the waiting time t 1 + ⁇ t 1 is longer by the time segment ⁇ t 1 .
  • the emitter element 5 directly following, in this case the third, in the row of the emitter line Z 1 is activated.
  • the waiting time t 1 + ⁇ t 2 begins to run.
  • the waiting time t 1 + ⁇ t 2 is longer by the time segment ⁇ t 2 .
  • the time segment ⁇ t 2 is greater than the time segment ⁇ t 1 . This is repeated until the last emitter element 5 of the emitter row Z 1 has been activated after the waiting time t 1 + ⁇ t x , the waiting time increasing in each case compared to the preceding waiting time
  • the activation and deactivation process described above begins again, but in an analogous manner with the following emitter row, here for example with emitter row Z 2 .
  • the waiting times t 1 , t 2 , t 3 , t n can become longer or longer. That is, the waiting time t 2 can be longer than the waiting time t 1 and the waiting time t 3 can be longer than the waiting time t 2 , etc.
  • the waiting time t 2 can also be longer than the waiting time t 1 + ⁇ t x and the waiting time t 3 can also be greater than the waiting time t 2 + ⁇ t x , etc.
  • an electronically controlled delay in the switch-on or Activation process can be achieved, whereby a time resolution inherently comes about.
  • FIG. 1 and the associated description. 3 shows a LIDAR measuring system 7 in a schematic representation.
  • the LIDAR measurement system 7 is intended for use on a vehicle, such as a motor vehicle.
  • the LIDAR measurement system 7 can be arranged statically on the motor vehicle.
  • the LIDAR measuring system 7 has the transmission unit 3 , a reception unit 8 , transmission optics 9 , reception optics 10 and electronics 11 .
  • the transmission unit 3 is designed as a transmission chip 13 on which a plurality of emitter elements 5 are arranged in a transmission matrix 4 in one plane.
  • the transmission unit 3 is designed in a focal plane array configuration. This means that the transmission chip 13 and the emitter elements 5 are arranged on a flat plane, which is arranged in the focal point or the focal plane of the transmission optics 9 .
  • the emitter elements 5 can each be in the form of surface emitters, such as a vertical cavity surface emitting laser (VCSEL).
  • the receiving unit 8 is designed as a receiving chip 14 on which a plurality of receiving elements 15 are arranged in a receiving matrix in one plane.
  • the receiving unit 8 is formed in a focal plane array configuration. This means that the receiving chip 14 and the receiving elements 15 are arranged on a flat plane, which is arranged in the focal point or the focal plane of the receiving optics 10 .
  • the receiving elements 15 can each be in the form of a single photon avalanche diode, such as a single photon avalanche diode (SPAD).
  • SPAD single photon avalanche diode
  • a laser light emitted by an emitter element 5 passes through the sending optics 9.
  • a light impinging on a receiving element 15 passes through the receiving optics 10.
  • the transmitting optics 9 assigns each emitter element 5 a specific solid angle.
  • the receiving optics 10 assigns each receiving element 15 a specific solid angle.
  • An emitter element 5 emits laser light 16 in the form of a laser pulse 16 at the start of a measurement cycle. The reflected laser pulse 16 is directed through the receiving optics 10 to the associated receiving element 15 .
  • the associated receiving element 15 detects the incoming laser pulse 16, it being possible for triggering to be read out with a corresponding evaluation device and for example to be written into a histogram. Through the determined running time of the laser pulse 16 the distance to the object can be determined. Furthermore, the speed of the object can be determined by a time resolution.
  • the course of a measuring cycle is controlled by the electronics 11 .
  • the electronics 11 are designed in particular as a device 11 for controlling the emitter elements 5 and the receiving elements 15 .
  • the electronics 11 can have or be a time control unit.
  • the time control unit is used for the time-controlled activation and/or deactivation of the emitter elements 5 of the transmitting unit 3.
  • the time control unit can also be used for the time-controlled activation and/or deactivation of the receiving elements 15 of the receiving unit 8.
  • the electronics 11 thus controls the activation and deactivation of the individual emitter elements 5.
  • the timing can have a timing controller.
  • the time control unit controls the precise observance of the waiting times t n or t n + ⁇ t x between the activation of the individual emitter elements 5.
  • the electronics 11 are set up and intended to carry out the method described above and/or below.
  • the electronics 11 have a processor and a memory.
  • a computer program product with data records which causes the electronics 11 to carry out the method described above and/or below is stored in the memory of the electronics.
  • FIGS. 1 and 2 and the associated description are examples of data records which causes the electronics 11 to carry out the method described above and/or below.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un procédé de commande d'éléments émetteurs (5) d'un système de mesure LIDAR qui est formé dans un ensemble de matrice de plan focal, les éléments émetteurs (5) d'un sous-ensemble d'émetteurs (6) étant activés l'un après l'autre, l'élément émetteur respectivement suivant (5) du sous-ensemble d'émetteurs (6) étant activé uniquement à la fin d'un temps d'attente (tn, tn+Δtx). L'invention concerne également un dispositif correspondant de commande d'éléments émetteurs (5) d'un système de mesure LIDAR, ainsi qu'un système de mesure LIDAR correspondant.
PCT/EP2021/080716 2020-11-09 2021-11-05 Procédé et dispositif de commande d'éléments émetteurs d'un système de mesure lidar et système de mesure lidar Ceased WO2022096621A1 (fr)

Applications Claiming Priority (2)

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DE102020214041.3 2020-11-09
DE102020214041.3A DE102020214041A1 (de) 2020-11-09 2020-11-09 Verfahren und Vorrichtung zur Ansteuerung von Emitterelementen eines LIDAR-Messsystems sowie LIDAR-Messsystem

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WO2022096621A1 true WO2022096621A1 (fr) 2022-05-12

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017222971A1 (de) 2017-12-15 2019-07-11 Ibeo Automotive Systems GmbH LIDAR Empfangseinheit
DE102018205378A1 (de) * 2018-04-10 2019-10-10 Ibeo Automotive Systems GmbH Verfahren zur Ansteuerung von Sensorelementen eines LIDAR Messsystems
DE102018205972A1 (de) * 2018-04-19 2019-10-24 Robert Bosch Gmbh Vorrichtung zum Bestimmen einer Position von mindestens einem Objekt
WO2020061265A1 (fr) * 2018-09-19 2020-03-26 Waymo Llc Procédés et systèmes de juxtaposition d'émissions d'impulsions de capteur actif

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018205376A1 (de) 2018-04-10 2019-10-10 Ibeo Automotive Systems GmbH Verfahren zum Durchführen eines Messvorgangs

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017222971A1 (de) 2017-12-15 2019-07-11 Ibeo Automotive Systems GmbH LIDAR Empfangseinheit
DE102018205378A1 (de) * 2018-04-10 2019-10-10 Ibeo Automotive Systems GmbH Verfahren zur Ansteuerung von Sensorelementen eines LIDAR Messsystems
DE102018205972A1 (de) * 2018-04-19 2019-10-24 Robert Bosch Gmbh Vorrichtung zum Bestimmen einer Position von mindestens einem Objekt
WO2020061265A1 (fr) * 2018-09-19 2020-03-26 Waymo Llc Procédés et systèmes de juxtaposition d'émissions d'impulsions de capteur actif

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